Improve ant walking speed

CreatureControl/Runtime/Scripts/Creature.cs

@@ -138,10 +138,10 @@ namespace CreatureControl {
             UpdatePose();
 
             // copy animator root motion to the creature
-            this.transform.SetPositionAndRotation(targetRig.transform.position, targetRig.transform.rotation);
+            //this.transform.SetPositionAndRotation(targetRig.transform.position, targetRig.transform.rotation);
             // As target rig is probably a child of this.transform,
             // We need to restore the position/rotation of the targetsRig.
-            targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
+            //targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
         }
 
         /// <summary>
@@ -161,10 +161,16 @@ namespace CreatureControl {
         public virtual void UpdateModel() {
             if (this.model == null)
                 return;
-                
-            Vector3 newPosition = this.targetRig.transform.position + this.targetToModelTranslation;
-            Quaternion newOrientation = this.targetRig.transform.rotation * this.targetToModelRotation;
+            
+            this.targetRig.transform.GetPositionAndRotation(out Vector3 targetRigPosition, out Quaternion targetRigOrientation);
+            
+            Vector3 newPosition = targetRigPosition + this.targetToModelTranslation;
+            Quaternion newOrientation = targetRigOrientation * this.targetToModelRotation;
             this.model.SetPositionAndRotation(newPosition, newOrientation);
+            // This leads to problems when the targetRig is a child of the model
+            // (which is often the case)
+            // to prevent this, we restore the targetRig pose
+            this.targetRig.transform.SetPositionAndRotation(targetRigPosition, targetRigOrientation);
         }
 
         #region Collisions

NanoBrain/Editor/ClusterViewer.cs

@@ -503,6 +503,9 @@ namespace NanoBrain {
             }
 
             protected void DrawOutputs(Vector2 parentPos, float size) {
+                if (this.currentCluster == null)
+                    return;
+                    
                 // Determine the maximum value in this layer
                 // This is used to 'scale' the output value colors of the nuclei
                 float maxValue = 0;

Samples/Animation/AntAnimator3.controller

@@ -12,7 +12,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: ab82ff68e62ea3b1c8e6523f8d46c142, type: 2}
     m_Threshold: -1
     m_Position: {x: 0, y: 1}
-    m_TimeScale: 1
+    m_TimeScale: 0.5
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -28,7 +28,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: 91229db5e929c379bbfd5bf417848488, type: 2}
     m_Threshold: 1
     m_Position: {x: 1, y: 0}
-    m_TimeScale: 1
+    m_TimeScale: 0.5
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -51,7 +51,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: 138594cdb62397137913b39c26d3de5a, type: 2}
     m_Threshold: 0
     m_Position: {x: 0, y: 0}
-    m_TimeScale: 1
+    m_TimeScale: 0.5
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -59,7 +59,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: b8a731a1533b8c960b3f3688d4922a24, type: 2}
     m_Threshold: 0.25
     m_Position: {x: 0, y: 1}
-    m_TimeScale: 1
+    m_TimeScale: 0.5
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -67,7 +67,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: 240c3a3c6c28272059bf7b591ff818b1, type: 2}
     m_Threshold: 0.5
     m_Position: {x: -1, y: 0}
-    m_TimeScale: 1
+    m_TimeScale: 0.5
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -75,7 +75,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: 501d5503172629df192bb4ad015fb4f7, type: 2}
     m_Threshold: 0.75
     m_Position: {x: 1, y: 0}
-    m_TimeScale: 1
+    m_TimeScale: 0.5
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -83,7 +83,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: b8a731a1533b8c960b3f3688d4922a24, type: 2}
     m_Threshold: 1
     m_Position: {x: 0, y: -1}
-    m_TimeScale: -1
+    m_TimeScale: -0.5
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0